6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints

Understand

We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data.

• Our method tracks in real-time novel object instances of known object categories such as bowls, laptops, and mugs.
• 6-PACK learns to compactly represent an object by a handful of 3D keypoints, based on which the interframe motion of an object instance can be estimated through keypoint matching.
• These keypoints are learned end-to-end without manual supervision in order to be most effective for tracking.